packet protocol optimization (#102)

* packet optim * more optimziations for servo * handle switching mode between cont/pos * avoid overquerying * cleanup * fix requerying of consts * updated test * added rotary examples * simplify logic
microsoft · Oct 20, 2023 · 4424214 · 4424214
1 parent acc82bd
commit 4424214
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Showing 6 changed files with 79 additions and 39 deletions.
diff --git a/rotary-encoder/clients.ts b/rotary-encoder/clients.ts
@@ -0,0 +1,4 @@
+namespace modules {
+    //% fixedInstance whenUsed weight=2 block="rotary encoder2"
+    export const rotaryEncoder2 = new RotaryEncoderClient("rotary Encoder2")
+}
diff --git a/rotary-encoder/pxt.json b/rotary-encoder/pxt.json
@@ -2,20 +2,14 @@
     "name": "jacdac-rotary-encoder",
     "version": "1.9.18",
     "description": "An incremental rotary encoder - converts angular motion of a shaft to digital signal.",
-    "files": [
-        "constants.ts",
-        "client.ts"
-    ],
-    "supportedTargets": [
-        "arcade",
-        "microbit",
-        "maker"
-    ],
+    "files": ["constants.ts", "client.ts", "clients.ts"],
+    "supportedTargets": ["arcade", "microbit", "maker"],
     "dependencies": {
         "core": "*",
         "jacdac": "github:microsoft/pxt-jacdac"
     },
-    "testDependencies": {
-        "nucleo-f411re": "*"
+    "testFiles": ["test.microbit.ts"],
+    "fileDependencies": {
+        "test.microbit.ts": "target:microbit"
     }
 }
diff --git a/rotary-encoder/test.microbit.ts b/rotary-encoder/test.microbit.ts
@@ -0,0 +1,9 @@
+
+forever(() => {
+    led.toggle(0, 0)
+    console.log(`clicks per turn1: ${modules.rotaryEncoder1.clicksPerTurn()}`)
+    console.log(`position1: ${modules.rotaryEncoder1.position()}`)
+    console.log(`clicks per turn2: ${modules.rotaryEncoder2.clicksPerTurn()}`)
+    console.log(`position2: ${modules.rotaryEncoder2.position()}`)
+    pause(50)
+})
diff --git a/routing.ts b/routing.ts
@@ -42,6 +42,7 @@ namespace jacdac {
     export const REFRESH = "refresh"
     export const REFRESH_REGISTER_POLL = 50
     export const REGISTER_REFRESH_RATE = 250
+    export const REGISTER_OPTIONAL_REFRESH_RATE = 1000
     export const REGISTER_READ_TIMEOUT = 750
 
     export class Bus extends jacdac.EventSource {
@@ -918,20 +919,24 @@ namespace jacdac {
          * Queues a query to refresh the register
          */
         query() {
+            const constHasValues = this.isConst && this.hasValues()
             const device = this.service.device
-            if (device)
+            // need to be connected, don't re-request consts
+            if (device && !constHasValues) {
                 device.query(
                     this.code,
-                    REGISTER_REFRESH_RATE,
+                    this.isConst
+                        ? null
+                        : this.isOptional
+                        ? REGISTER_OPTIONAL_REFRESH_RATE
+                        : REGISTER_REFRESH_RATE,
                     this.service.serviceIndex
                 )
+            }
         }
 
         pauseUntilValues(timeOut?: number) {
-            const manualQuery =
-                this.code !== SystemReg.Reading &&
-                // don't double query optional registers
-                (!this.isOptional || !this.hasValues())
+            const manualQuery = this.code !== SystemReg.Reading
             if (manualQuery) this.query()
             if (!this.hasValues()) {
                 pauseUntil(() => {
@@ -1440,7 +1445,10 @@ namespace jacdac {
                   )
         }
 
-        query(reg: number, refreshRate = 1000, servIdx = 0) {
+        /**
+         * @param refreshRate null for const, otherwise ms
+         */
+        query(reg: number, refreshRate: number, servIdx = 0) {
             let q = this.lookupQuery(reg, servIdx)
             if (!q) this.queries.push((q = new RegQuery(reg, servIdx)))
 

diff --git a/servo/client.ts b/servo/client.ts
@@ -16,6 +16,7 @@ namespace modules {
         private readonly _maxPulse: jacdac.RegisterClient<[number]>
         private readonly _stallTorque: jacdac.RegisterClient<[number]>
         private readonly _responseSpeed: jacdac.RegisterClient<[number]>
+        private _continuousMode: boolean = undefined
 
         constructor(role: string) {
             super(jacdac.SRV_SERVO, role, jacdac.ServoRegPack.ActualAngle)
@@ -95,18 +96,27 @@ namespace modules {
         //% value.min=0
         //% value.max=180
         setAngle(value: number) {
+            this.internalSetAngle(value)
+            this.internalSetContinuous(false)
+        }
+
+        private internalSetAngle(value: number) {
             this.start()
             this.setEnabled(true)
             const values = this._angle.values as any[]
-            values[0] = value
-            this._angle.values = values as [number]
+            if (value !== values[0]) {
+                values[0] = value
+                this._angle.values = values as [number]
+            }
         }
 
         private internalSetContinuous(enabled: boolean) {
-            this.start()
-            this.setReg(jacdac.SystemReg.ClientVariant, "s", [
-                enabled ? `cont=1` : ``,
-            ])
+            if (this._continuousMode !== enabled) {
+                this._continuousMode = enabled
+                this.setReg(jacdac.SystemReg.ClientVariant, "s", [
+                    enabled ? `cont=1` : ``,
+                ])
+            }
         }
 
         /**
@@ -130,7 +140,7 @@ namespace modules {
                 minAngle,
                 maxAngle
             )
-            this.setAngle(degrees)
+            this.internalSetAngle(degrees)
             this.internalSetContinuous(true)
         }
 
@@ -175,8 +185,10 @@ namespace modules {
         setEnabled(value: boolean) {
             this.start()
             const values = this._enabled.values as any[]
-            values[0] = value ? 1 : 0
-            this._enabled.values = values as [boolean]
+            if (!!value !== !!values[0]) {
+                values[0] = value ? 1 : 0
+                this._enabled.values = values as [boolean]
+            }
         }
 
         /**
@@ -199,8 +211,10 @@ namespace modules {
         setOffset(value: number) {
             this.start()
             const values = this._offset.values as any[]
-            values[0] = value
-            this._offset.values = values as [number]
+            if (value !== values[0]) {
+                values[0] = value
+                this._offset.values = values as [number]
+            }
         }
 
         /**
@@ -238,8 +252,10 @@ namespace modules {
         setMinPulse(value: number) {
             this.start()
             const values = this._minPulse.values as any[]
-            values[0] = value
-            this._minPulse.values = values as [number]
+            if (value !== values[0]) {
+                values[0] = value
+                this._minPulse.values = values as [number]
+            }
         }
 
         /**
@@ -277,8 +293,10 @@ namespace modules {
         setMaxPulse(value: number) {
             this.start()
             const values = this._maxPulse.values as any[]
-            values[0] = value
-            this._maxPulse.values = values as [number]
+            if (value !== values[0]) {
+                values[0] = value
+                this._maxPulse.values = values as [number]
+            }
         }
 
         /**

diff --git a/servo/test.microbit.ts b/servo/test.microbit.ts
@@ -1,7 +1,14 @@
-basic.showIcon(IconNames.Happy)
-input.onButtonPressed(Button.A, () => {
-    modules.servo1.run(100)
-})
-input.onButtonPressed(Button.B, () => {
-    modules.servo2.run(50)
+forever(() => {
+    modules.servo1.run(50)
+    //    modules.servo2.run(50)
+    //   modules.servo3.run(50)
+    basic.pause(1000)
+    modules.servo1.run(0)
+    //  modules.servo2.run(0)
+    //  modules.servo3.run(0)
+    //  basic.pause(1000)
 })
+
+modules.servo1.start()
+//modules.servo2.start()
+//modules.servo3.start()